Executing Impedance Test - Epson RC700 Manual

2.9.11 Executing Impedance Test

To experience the configured parameters for the force control object, press the <OK> key
while holding the enable switch. The impedance test will start.
(1) Press the <OK> key while holding the enable switch.
(2) Display the impedance test execution start confirmation screen.
(3) Perform either of the following steps.
Apply the force to the hand or workpiece which is attached near the tip than the

Force Sensor.
The Force Sensor cannot detect the force when it is applied to the robot arm or the
CAUTION
Force Sensor itself, and it may result in unintended robot motion. Caution is
required in this regard.
RC700 / RC90 option TP2 Rev.11
Start Force Control?
Caution:Sensor drift
makes unintentional
motion.
The screen cautions the user before executing the test that the robot may move with no
force being applied when the sensor drift is accumulated.
<Guide> key: Displays the key operation guide for this screen.
To start the impedance test:
Press the <OK> key.
When robot motors are ON:
The impedance test starts.
[Executing FCxxx] will be displayed in the fourth line to indicate that the
impedance test is in process, and then the screen returns to the [Impedance
Tester] screen.
Impedance Tester
RB01 FS1 T00 L00 A00
FC001 MP01 P000
[Executing FC001]
You can directly touch the tip of the Force Sensor to experience the parameters
for the force control object.
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Operation
2. TEACH Mode
101